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Fast Motion Planning for Agile Space Systems with Multiple Obstacles

Baldini, Francesca and Bandyopadhyay, Saptarshi and Foust, Rebecca and Chung, Soon-Jo and Rahmani, Amir and de la Croix, Jean-Pierre and Bacula, Alexandra and Chilan, Christian M. and Hadaegh, Fred (2016) Fast Motion Planning for Agile Space Systems with Multiple Obstacles. In: AIAA/AAS Astrodynamics Specialist Conference. American Institute of Aeronautics and Astronautics , Art. No. 2016-5683. ISBN 978-1-62410-445-9.

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In this paper, we develop a novel algorithm for spacecraft trajectory planning in an environment cluttered with many geometrically-fixed obstacles. The Spherical Expansion and Sequential Convex Programming (SE-SCP) algorithm first uses a spherical-expansion-based sampling algorithm to explore the workspace. Once a path is found from the start position to the goal position, the algorithm generates a locally optimal trajectory within the homotopy class using sequential convex programming. If the number of samples tends to infinity, then the SE-SCP trajectory converges to the globally optimal trajectory in the workspace. The SE-SCP algorithm is computationally efficient, therefore it can be used for real-time applications on resource-constrained systems. We also present results of numerical simulations and comparisons with existing algorithms.

Item Type:Book Section
Related URLs:
URLURL TypeDescription
Foust, Rebecca0000-0003-1470-1716
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2016 AIAA.
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AIAA Paper2016-5683
Record Number:CaltechAUTHORS:20171218-084716717
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Official Citation:Francesca Baldini, Saptarshi Bandyopadhyay, Rebecca Foust, Soon-Jo Chung, Amir Rahmani, Jean-Pierre de la Croix, Alexandra Bacula, Christian M. Chilan, and Fred Hadaegh. "Fast Motion Planning for Agile Space Systems with Multiple Obstacles", AIAA/AAS Astrodynamics Specialist Conference, AIAA SPACE Forum, (AIAA 2016-5683)
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:83950
Deposited By: Tony Diaz
Deposited On:18 Dec 2017 17:48
Last Modified:08 Jan 2020 15:45

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